Tracking of a maneuvering underwater target

This paper elaborates a technique for improving the performance of a sensor network based system for tracking an abruptly maneuvering under water target. The results of tracking estimates of a maneuvering target may vary owing to various noises and interferences such as sensor errors and environmental noises. The conventional Kalman filter may induce unsatisfactory tracking errors when applied to the maneuvering target scenario, since the parameters of the filter cannot adapt itself to the highly maneuvering target. In this simulation study, a decision based maneuvering detection which depends on the chi-square significance test of the measurement residuals has been exercised. Upon detection of the maneuvering, the Kalman filter is reinitialized by resetting the parameters for improving the maneuvering target tracking estimates.